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本文提出了一种新的自校正控制算法,其特点是既能在跟踪阶跃输入时限制输出量的变化速率,又能控制非最小相位系统,通过适当选取控制器参数,可以灵活调整控制性能。算法能保证满足闭环可辨识条件,这不仅为提高控制精度奠定了基础,而且全部参数都可以直接在线估计,无须选取β_0值。本文提出了一种消除稳态偏差的简便方法。仿真和实时控制证实了新算法的综合控制效果非常显著。
In this paper, a new self-tuning control algorithm is proposed, which can not only control the rate of change of output while tracking the step input, but also control the non-minimum phase system. By proper selection of the controller parameters, the control performance can be flexibly adjusted . The algorithm can guarantee to meet the closed-loop identifiable conditions, which not only lays the foundation for improving the control accuracy, but also all the parameters can be directly estimated online without the need to select β_0 value. This article presents a simple way to eliminate steady-state deviations. Simulation and real-time control confirm the comprehensive control effect of the new algorithm is very significant.